Method and system for moving cable-mounted objects using robotic mounts

ABSTRACT

A cable-mounted object, such as a camera, is movable using one or more robotic cable mounts. The robotic cable mounts have a head which support a first portion of the cable. The head is movable in three-dimensional space, such as linearly along three orthogonal axis (or combinations thereof). Changes in the position of the head of the robotic mount change the position of the cable, thus changing the position of the cable-mounted object. In one embodiment, two ends of cable may be connected to first and second robotic cable mounts, or an object might be mounted to multiple cables, each of which is connected to a different robotic mount.

FIELD OF THE INVENTION

The present invention relates to the movement of cable mounted objects.

BACKGROUND OF THE INVENTION

In entertainment and other venues, it is often desirable to moveobjects. For example, in a theatrical production, large props may belocated on a stage. The props may be moved into various positions tocreate different scenes and various actions. The props are often movedmanually, such as with ropes and pulleys, limiting the situations wherethey may be used or their effectiveness.

Similarly, when filming a show or movie, a camera may need to be movedto various locations. The camera might be mounted on a dolly, boom orthe like, again limiting control over the movement of the camera.

SUMMARY OF THE INVENTION

The invention comprises methods and devices for moving a cable-mountedobject, such as a camera.

One embodiment of the invention is a method of moving a cable-mountedobject by changing the position of a cable to which the object ismounted. The position of the cable may be changed by changing theposition of a portion of a robotic cable mount which support the cable,such as a head. In one embodiment, different portions of a cable, suchas opposing ends, may be supported by different robotic cable mounts,whereby changes in the position of each or both mounts may be used tochange the position of the cable and thus the cable-mounted object. Inother embodiments, an cable-mounted object might be connected tomultiple cables and opposing ends or portions of each cable may besupported by a different robotic cable mount.

In one embodiment, a controller is used to control the robotic cablemounts, such as by controlling one or more motors which move the mounts,thus controlling the position of the one or more cables and thus the oneor more cable-mounted objects.

The cable-mounted objects may be fixedly mounted to the one or morecables, or might be movable relative to the cable(s), such as by beingrollably or slidably mounted to the cable.

In one embodiment, the position of the cable-mounted object may bechanged by changing the orientation of the cable, such as by tilting itor making it level. In other embodiments, the position of the objectmight be changed by raising or lowering the entire cable, or otherwisemoving the cable without changing its orientation. In yet otherembodiments, the position of the object may be changed by changing andeffective length of the cable, such as by having ends of the cablesmounted on spools of the robotic cable mounts.

Further objects, features, and advantages of the present invention overthe prior art will become apparent from the detailed description of thedrawings which follows, when considered with the attached figures.

DESCRIPTION OF THE DRAWINGS

FIG. 1A illustrates a robotic cable mount in accordance with anembodiment of the invention;

FIG. 1B illustrates a variant of the robotic cable mount of FIG. 1A;

FIG. 2 illustrates another embodiment of a robotic cable mount inaccordance with the invention;

FIG. 3-5 illustrate aspects of using two robotic cable mounts to controlthe position of a cable mounted object;

FIG. 6 illustrates use of multiple robotic cable mounts to control theposition of an object via multiple cables; and

FIG. 7 illustrates a system in accordance with an embodiment of theinvention.

DETAILED DESCRIPTION OF THE INVENTION

In the following description, numerous specific details are set forth inorder to provide a more thorough description of the present invention.It will be apparent, however, to one skilled in the art, that thepresent invention may be practiced without these specific details. Inother instances, well-known features have not been described in detailso as not to obscure the invention.

In general, the invention comprises one or more robotically-controlledobjects and objects which are moved by one or more robots. In apreferred embodiment, the invention comprises a method and system formoving a cable-mounted object, such as a camera.

FIG. 1 illustrates a robot in accordance with an embodiment of theinvention, where the robot is configured to move a cable C and may thusbe referred to as a robotic cable mount. As illustrated, the roboticcable mount 20 is moveable, thus permitting the position of the cable Cto be changed. As detailed below, in a preferred embodiment, the roboticcable mount 20 can be used to change the position of the cable C freelyin three-dimensional space.

In a preferred embodiment, the robot cable mount 20 is referred to as“robotic” because it is a device which can change positions in anautomated fashion. In particular, the robotic cable mount 20 ispreferably capable of multiple movements without manual intervention(i.e. can move between various positions based upon a sequence ofinstructions without each movement being prompted by individual userinput).

Preferably, the robotic cable mount 20 comprises a robot which ismovable so that the cable C (or at least one end or portion thereof) islinearly moveable in three (3) directions or along three (3) axis whichare orthogonal to one another, and/or in combinations of thosedirections. For example, as illustrated in FIG. 1, the robotic cablemount 20 may be configured to move a cable C linearly in an “x”direction, a “y” direction and a “z” direction, as well as combinationsthereof (e.g. in a direction which is in both an x and y direction, yand z direction, etc.), whereby the robotic cable mount 20 is capable ofmoving at least a portion of the cable C freely in three-dimensionalspace. Further, the robotic cable mount 20 may be capable of rotationalmovement about one or more of such axis.

FIG. 1 illustrates one embodiment of a robot or robotic cable mount 20.In one embodiment, the robotic cable mount 20 comprises a base 22 and amovable cable support 24. The base 22 is configured to support themovable cable support 24, and the movable cable support 24 is preferablymoveable relative to the base 22, thus permitting an associated cable Cto be moveable.

Referring to FIG. 1, the base 22 may have a variety of configurations,including various shapes and sizes. In general, the base 22 isconfigured to be mounted to or supported by (by connection or merelyresting or setting upon) a support surface, such as a wall, floor orother support, such as a portion of another object. The base 22 may havea generally planar bottom or lower surface for engaging a generallyplanar support surface, or may have other configurations for engagingsupport surfaces of other shapes. In one embodiment, the base 22 mayinclude one or more apertures for accepting fasteners which are placedinto engagement with the support surface, for securing the base 22 in afixed position by temporarily or permanently connecting the base 22 tothat surface. As described below, however, the entire robotic cablemount 20 may be movable, such as by having a base which is movablerelative to a support surface, including by rolling or walking. In theembodiment illustrated, the robotic cable mount 20 is located on ahorizontal supporting surface, but it could be mounted upside down, to avertically extending support, etc.

In a preferred embodiment, a moveable cable support 24 is positionedbetween the base 22 and the cable C. This support is preferably moveablein at least three (3), and preferably six (6) degrees of freedom, and isthus moveable in at least two (2), and more preferably three (3),dimensions or dimensional space. As indicated above, in a preferredembodiment, movement is permitted linearly relative to each of threegenerally orthogonal axis (as well as combinations thereof), as well asrotationally around each axis. As disclosed below, the robotic cablesupport 24 may permit redundant movement in one or more directions. Forexample, the robotic cable support 24 may include two or more elementswhich permit it (and thus an object connected thereto, such as a cableC) to be moved in the x, y and/or z direction (three degrees offreedom), and to rotate about the x, y and/or z axis (3 additionaldegrees of freedom), or various combinations thereof.

As illustrated, in one embodiment, the mount includes a main support 32.In one embodiment, the main support 32 is mounted for rotation relativeto the base 30, i.e. about the y-axis as illustrated in FIG. 1. The mainsupport 32 may be mounted, for example, on a bearing supported shaftwhich is connected to the base 22, or by other means.

In one embodiment, a lower arm 34 is rotatably mounted to the mainsupport 32. As illustrated, the main support 32 has a first portionmounted to the base 22 and a second portion to which the lower arm 34 ismounted. In a preferred embodiment, the lower arm 34 is rotatablymounted to the main support 32 about a shaft or other mount. In theconfiguration illustrated, the lower arm 34 is mounted for rotationabout a z-axis (i.e. an axis which is generally perpendicular to theaxis about which the base 30 rotates).

As further illustrated, an upper arm 36 is rotatably mounted to thelower arm 34. In one embodiment, a first or distal portion of the lowerarm 34 is mounted to the main support 32, and the upper arm 36 ismounted to a top or proximal portion of the lower arm 34. In oneembodiment, the upper arm 36 is also mounted for rotation about the zaxis.

In one embodiment, a head 38 is located at a distal portion of the upperarm 36. Preferably, the cable C is mounted to the mount 24 via the head38. In one embodiment, the head 38 is mounted for rotation relative tothe upper arm 36 (and thus the remainder of the mount 24). In oneconfiguration, a first portion 40 of the head 38 is mounted for rotationabout an x axis relative to the upper arm 36 (i.e., about an axis whichis perpendicular to both the y and z axes, and thus about an axis whichis generally perpendicular to the axis about which the main support 32and upper and lower arms 36, 34 rotate).

Further, in the embodiment illustrated, a second portion 42 of the head38 is mounted for rotation relative to the first portion 40 and theupper arm 36, about the z-axis. As illustrated, the cable C is mountedto the second portion 42 of the head 38.

The various portions of the movable cable support 24 may be connected toone another (and to the base 22) in a variety of fashions. For example,the various portions may be connected to one another via a shaft andbearing mount, where the shaft is connected to one component and engagesone or more bearings supported by the other component, such that theshaft may move relative to the bearing(s), thus permitting thecomponents to move relative to one another. The portions of the movablecable support 24 might be mounted to one another in other fashions,however, such as by hinged mounting or the like.

Preferably, the movable cable support 24 includes means for moving theone or more portions thereof, and thus the cable C connected thereto. Asillustrated, the movable cable support 24 may include one or more motorsfor moving the components thereof. The motors may be electrical motors.In other embodiments, hydraulics or other means may be utilized to moveone or more of the components of the movable cable support 24. Forexample, a hydraulic arm might be utilized to move the upper arm 36relative to the lower arm 34 in an up and down direction.

Of course, the robotic cable mount 20 might have various otherconfigurations. For example, while the robotic cable mount 20 describedabove is redundant in its capacity to move in certain directions (i.e.the upper and lower arms 36, 34 are both configured to move about the zaxis and thus redundantly in the x and y directions), the robotic cablemount 20 could be configured in other fashions (such as by having only asingle portion configured to move in each direction). It will also beappreciated that the number of members or elements which the roboticcable mount 24 comprises may vary. For example, the robotic cable mount20 might comprise a base and a head which is mounted to the base, suchas via a swivel, permitting the head to be moved in at least twodimensions. Various configurations of members may also be utilized toeffect movement in various directions. For example, aside from swivelsor the rotating connections of the robotic cable mount illustrated inFIG. 1, members may be configured to telescope, slide or otherwise movelinearly (i.e. move along an axis rather than about an axis), or beconfigured to move along paths other than curved paths. For example, anarm might be rotatably connected to a base, where the arm is telescopicand can thus be extended or retracted.

As another example, the entire robotic mount 20 may be movable. Forexample, as illustrated in FIG. 2, the robotic cable mount 20 might bemovable in one or more directions via wheels W (such as on a track T orotherwise, including where the wheels may rotate, thus allowing themount 20 to rotate or spin), or might be configured to move in one ormore directions by walking (such as by including one or more legs). FIG.2 illustrates a particular configuration where a robotic cable mount 20is mounted for movement in the “z” direction along a track, thuspermitting a wider range of movement of an associated cable C in the “z”direction than would be permitted by movement of just the movable cablesupport 24 (for example, by rotating the main support 32 into the “z”direction and extending the low and upper arms 34,36). In such aconfiguration, movement of the robotic cable mount 20 on the wheels Wmay be used to facilitate course position adjustment of the cable C,while fine position adjustment may be accomplished using the movablecable support 24 of the robotic cable mount 20.

As indicated, in a preferred embodiment, the robotic cable mount 20 isconfigured to move the cable C. In one embodiment, the cable C could bedirectly attached to the movable cable support 24, such as to the secondportion 42 of the head 38. In another embodiment, the cable C may beindirectly attached, such as by attaching the cable C to an eyelet 44 orother relatively fixed mount (which is then connected to the head 38)such as illustrated in FIG. 1A, or to a movable support, such as a spoolor reel 46 which may rotate or be rotated (such as via a motor), such asillustrated in FIG. 1. In general, however, the robotic cable mount 20has a portion (such as the head 38 or an element connected thereto)which is moveable in the manner described above (as indicated above, inone embodiment, movement of the various portions of the movable cablesupport 24 allow the head 38 to be moved in three (3) generallyorthogonal directions and combinations thereof, as well as rotationallyabout those directions) and is thus configured to move an associatedportion of a cable C, where that portion may be an end of the cable or,where a portion of the cable is mounted on a spool, a portion distalfrom the end. In either event, the cable C has an “effective” end at theinterface between the cable C and the robotic cable mount 20, and thelocation of that effective end is preferably movable.

In the embodiment illustrated, a single cable C is connected to a singlerobotic cable mount 20. In other embodiments, multiple cables might bemounted to a single mount 20.

The cable C may comprise, for example, a woven steel cable. However,while the term “cable” is used, the cable may comprise other cable-likeelements, such as a rope, cord, line or the like, including made ofmaterials other than metal.

As described in detail below, a single robotic cable mount 20 may beused to move a cable C, such as by moving one end of the cable and wherethe other end of the cable is connected to another object or device,such as a fixed mount. However, two or more robotic cable mounts 20 maybe used with one another to move one or more cables. For example, tworobotic cable mounts 20 may be used to move a single cable C, such aswhere each end of the cable C is connected to a different robotic cablemount 20. In another example, two or more robotic cable mounts 20 may beused to move different cables, such as where one end of each cable C isconnected to a respective robotic cable mount 20 and the opposing end ofeach cable is mounted to a mount, such as a common mount.

In one embodiment, means may be provided for controlling a singlerobotic cable mount 20 or a plurality of mounts. In one embodiment, oneor more robotic cable mounts 20 may be controlled by a controller. In apreferred embodiment, the controller may comprise or include a computingdevice. Various instructions may be provided from the controller to theone or more robotic cable mounts 20, causing the robotic cable mounts 20to move. For example, a user might provide an input to the controller,which input is a request to move an end of a cable C from a first to asecond position. The controller may generate one more signals orinstructions which are transmitted to the robotic cable mount 20 forcausing the mount to so move the cable C. The signal might compriseopening of a switch which allows electricity to flow to one or moremotors of the robotic cable mount 20 for a predetermined period timewhich is necessary for the motor to affect the desired movement. Inanother embodiment, the signal might comprise an instruction which isreceived by sub-controller of the mount, which sub-controller thencauses the mount to move as desired.

In one embodiment, the controller may be configured to cause a singlerobotic cable mount 20 or multiple mounts to move in various patterns orother desired directions. The controller may be custom-programmed ormight be configured to execute pre-set sequences of movement.

FIG. 7 illustrates one embodiment of a control system of the presentinvention. As illustrated, the system 200 includes a main controller200. In one embodiment, the main controller 200 may comprise a processorwhich is capable of executing machine readable code or software, such asstored in a memory in association with the processor. As indicated, thatsoftware may comprise a set of instructions which, when executed, causethe controller to move one or more robotic cable mounts 20 to move in apredetermined manner, randomly or otherwise. The software might also orinstead simply comprise a set of instructions which permits a user toprovide input of desired movement (e.g. which allows the user to“program” the robotic cable mount 20 to move, either in direct responsethereto or to generate a programmed movement (which may be implementedimmediately or be stored for implementation at a later time).

In one embodiment, the main controller 200 includes one or more userinput devices 204, such as a mouse, keyboard, touch-screen or the like,via which the user may provide input. The main controller 202 mightgenerate one or more graphical user interfaces for display on a controldisplay 206 and the user may interact with the interface to provideinput (such as by inputting text, clicking boxes, etc.).

In one embodiment, control signals or instructions may that aregenerated or otherwise output by the main controller 200 may betransmitted to a robotic cable mount sub-controller 210. Such asub-controller 210 might, for example, be a controller which is locatedadjacent to the robotic cable mount 20 or within a housing or portionthereof. The sub-controller 210 may process the control instruction anduse them to operate the various portions of the robotic cable mount 20,such as one or more motors M. For example, the sub-controller 210 mayparse instructions from the main controller 200 so as to individuallycontrol each motor M in a manner which effectuates the main controlinstructions.

The main controller 202 might communicate with each robotic cable mount20 via wired or wireless communication links. For example, maincontroller 202 might transmit signals via a RS-232 communication linkincluding a wired pathway to the sub-controller 210 of the robotic cablemount 20. Alternatively, the main controller 202 and the sub-controllers210 might both include wireless transceivers. In this manner, the maincontroller 202 may transmit instructions to the robotic cable mounts 20wirelessly.

Of course, other control configurations are possible. For example, themain controller 202 may comprise a server. One or more users maycommunicate with the server, such as from user stations (like desktop orlaptop computers) or via other devices such as mobile devices includingphones or tablets. In one embodiment, the server may be configured as awebserver where users may interface with the server via a web-page. Inother configurations, the controller might be a mobile communicationdevice such as an Apple iPhone® which is executing a controlapplication.

Aspects of methods of moving a cable-mounted object will now bedescribed. In one embodiment, one or more objects are mounted to atleast one cable, whereby movement of the cable is used to move the oneor more objects (e.g. to change their position). In one embodiment, theone or more objects may be mounted in fixed positions on the one or morecables. In other embodiments, the objects may be movably mounted to thecable(s), such as via a mounting which permits them to roll or slidealong the cable. One object that may be mounted to a cable and thusmoved via movement of a cable, is a camera.

In accordance with the invention, a cable-mounted object is moved usingat least one robotic cable mount C.

One embodiment of a method and system will be described with referenceto FIGS. 3-5. In one embodiment, a first portion (such as an end) of acable C may be movable by a first robotic cable mount 20A. A secondportion (such as an opposing end) of the cable C may be movable by asecond robotic cable mount 20B. In this configuration, movement of thefirst portion of the cable C by the first robotic cable mount 20A can beused to manipulate the position of the cable C relative to the secondportion, and vice versa.

In one embodiment, manipulation of the position of the cable C can beused to change the position of an object associated with the cable C.For example, as illustrated in FIG. 3, a camera 100 or other objectmight be mounted to the cable C. In one embodiment, the camera 100 mightbe mounted to the cable C via one or more wheels 102 When the cable C isgenerally horizontal, the camera 100 will generally remain in aparticular position. However, when the position of the cable C ischanged, and namely the orientation of the cable, such as by raising orlowering one end relative to another so that the cable C is sloped, thecamera C will change positions by rolling downwardly along the cable.

In particular, by either raising the first portion of the cable C usingthe first robotic cable mount 20A, or by lowering the second portion ofthe cable C using the second robotic cable mount 20B (or both), theslope of the cable C causes the camera 100 to move along the cable C tothe right as illustrated in FIG. 3. This movement may be stopped bychanging the positions of one or both robotic cable mounts 20A,B so asto make the cable C generally level. Likewise, the camera 100 may becaused to move in the opposite direction by causing the cable C to tiltin the other direction.

For example, as illustrated in FIG. 4, the camera 100 might be at afirst position P1 along the cable C. The position of the cable C may bechanged by raising the first portion or end via the first robotic cablemount 20A, thus sloping the cable C downwardly to the right. This wouldcause the camera 100 to roll along the cable C towards the right, asillustrated (such as from position P1 to a second position, such as P2).

Of course, the position of the camera 100 or other object might bechanged in other manners. As illustrated in FIG. 5, the entire cable Cmay be moved from a first vertical position to a second verticalposition (e.g. where the position of the cable C changes, but not itsorientation), thus changing the vertical position of the camera 100. Forexample, in FIG. 5, both the first portion and second portion of thecable C have been raised via the first and second robotic cable mounts20A,B, thus raising the camera C vertically upwardly.

As another example, positional change of the object, such as the camera100, may be accomplished by introducing slack into the cable C orremoving slack from the cable C. For example, referring to FIG. 3, ifthe head of the first robotic cable mount 20A is moved towards thesecond robotic cable mount C (without a change in the length of thecable C), the cable C will slack and the camera 100 will roll downwardlytowards the lowest point of the cable.

Similarly, in another embodiment, positional change of the object, suchas the camera 100, may be accomplished by the spools 46. In particular,by allowing cable C to reel out from the spool 46 of one or both roboticcable mounts 20, the cable will slack, causing the camera 100 to movedownwardly. Of course, if the cable C is slack, then reeling in thecable will cause the object, such as the camera 100, to move upwardly.

Movement of the cable-mounted object may also be implemented bycombinations of changing the length of the cable C and changing theposition of the cable C, including its orientation, as described herein.

Of course, the camera or other object might be moved upwardly ordownwardly (e.g. linearly in the y direction in FIG. 2), to the left orright (e.g. linearly in the x direction in FIG. 2, including by tiltingthe cable and allowing the object to move along the cable) and even in aforward/reverse direction (e.g. linearly in the z direction in FIG. 2),or combinations thereof (whereby the object is generally movable inthree dimensions).

While FIGS. 3-5 illustrate a configuration in which generally opposingportions of the cable C are associated with robotic cable mounts 20A,B,in one embodiment a first portion (such as a first end) of the cable Cmight be associated with a robotic cable mount 20 and a second portion(such as a second end) might be mounted to another mount, such as abeam, strut, wall, anchor or the like. In this configuration, movementof the first end of the cable C via the single robotic cable mount 20may be used to control the position of an object, such as a camera 100,even though the range of movement of the cable C, and thus thecable-mounted object(s), may be more limited.

Yet another embodiment of the invention is illustrated in FIG. 6. Inthis embodiment at least one cable extends between a robotic cable mountand a cable-mounted object, and at least one other cable extends betweenthe object and another mount, such as another robotic cable mount. Inthe embodiment illustrated, a first cable C1 extends between an object,such as a camera 100, and a first robotic cable mount 20A, a secondcable C2 extends between the object and a second robotic cable mount20B, and a third cable C3 extends between the object and a third roboticcable mount 20C.

In this configuration, the position of the object, such as the camera100, may be changed by moving any one of the cables C1, C2, C3 via therespective robotic cable mounts 20A,B,C. The object may be moved bychanging the position of the robotic cable mount (e.g. the positionwhere the cable leaves the mount) and/or by reeling in or out cable viathe spool of the mount, or combinations thereof. Of course, changes inposition may be made via combinations of those movements by one, two orall three of the robotic cable mounts 20A,B,C. For example, relative toFIG. 6, if the upper arm 36 of all three robotic cable mounts 20A,B,C,were to be rotated into a lower position, the cables C1,C2,C3, and thusthe camera 100, would be moved to a lower vertical position. If cable C1were reeled in by the spool 46 of the first robotic cable mount 20A atthe same time as cables C2 and C3 are reeled out by the spools 46 of thesecond and third robotic cable mounts 20B,C, then the camera 100 wouldmove towards the left in FIG. 6 (e.g. towards the first robotic cablemount 20A).

Of course, a similar configuration where one or more, including lessthan three or more than three, robotic cable mounts 20 are connected toindividual cables which are then connected to other objects, arepossible.

As noted above, changes in position of the cable-mounted object(s) arepreferably accomplished by one or more robotic cable mounts, whereinmovement of each robotic cable mount is effectuated via one or morecontrollers. In one configuration, this allows the robotic cable mountsto be programmed to be controlled in manner which causes them to movethe cable(s) and thus the cable-mounted object(s), in the desiredmanner. For example, one or more robotic cable mounts may be programmedto move one or more cable-mounted objects along a desired path, in apattern, etc.

In other embodiments, the robotic cable mounts might be controlled so asto move the cable-mounted object(s) based upon other types of inputs.For example, it may be desired that a camera follow an object which isotherwise moving independently from the camera and the robotic cablemounts. For example, when filming a Western movie, it may be desired tofilm the face of a rider of a horse as the horse walks along a trail. Inone embodiment, information regarding the position of the rider (such astheir face) might be provided to the controller of the present invention(such as via a GPS sensor or other device which can provide locationinformation, including relative to the camera, via a camera or “eye”mounted each robotic mount which can see and thus track an object,etc.). The controller (such as the main controller 202 in FIG. 7) maythen generate instructions for the one or more robotic cable mounts 20so as to cause the mounts to move the cable(s), and thus the camera, insync with the movement of the rider.

Further, the one or more cable-mounted objects might be moved in othermanners or for other reasons, such as along a pre-designated path.

A particular advantage of the invention is the ability to use a roboticmount to move one or more cables, and thus one or more cable-mounted orcable supported objects. The invention permits a high degree of controlover the movement of such objects due to the granular movement controlof the robotic mounts.

It will be understood that the above described arrangements of apparatusand the method there from are merely illustrative of applications of theprinciples of this invention and many other embodiments andmodifications may be made without departing from the spirit and scope ofthe invention as defined in the claims.

What is claimed is:
 1. A method of moving a cable-mounted objectcomprising the steps of: supporting a first portion of a cable via afirst robotic cable mount which is configured to move said first portionof said cable linearly in three dimensions; supporting a second portionof said cable via a second robotic cable mount which is configured tomove said second portion of said cable linearly in three dimensions;mounting said cable-mounted object to said cable; and moving said firstrobotic cable mount to change a position of said first portion of saidcable and/or moving said second robotic cable mount to change a positionof said second portion of said cable, whereby a position of saidcable-mounted object changes.
 2. The method in accordance with claim 1wherein said first portion of said cable is connected to a rotatablespool of said first robotic cable mount and said step of moving saidfirst robotic cable mount further comprises rotating said rotatablespool.
 3. The method in accordance with claim 1 wherein said firstrobotic cable mount comprises a base and a movable cable support, saidmovable cable support having a head which moves said first portion ofsaid cable.
 4. The method in accordance with claim 3 wherein said headof said movable cable support is movable linearly along each of threeorthogonal axis, or combinations thereof.
 5. The method in accordancewith claim 3 wherein said base is movably supported on a supportsurface.
 6. The method in accordance with claim 5 wherein said base issupported by wheels on a track.
 7. The method in accordance with claim 1wherein said step of moving comprises changing said position of saidfirst portion of said cable so that it is higher than said position ofsaid second portion of said cable.
 8. The method in accordance withclaim 1 wherein said cable-mounted object is movably mounted to saidcable.
 9. The method in accordance with claim 8 wherein saidcable-mounted object is rollably or slidably mounted to said cable. 10.The method in accordance with claim 1 further comprising changing aneffective length of said cable between said first and second roboticcable mounts.
 11. A system for changing the position of a cable-mountedobject comprising: a controller; a first robotic cable mount comprisinga head which is linearly movable along each of three axis which areorthogonal to one another, or combinations thereof, via actuation of atleast one motor; a second robotic cable mount comprising a head which islinearly movable along each of three axis which are orthogonal to oneanother, or combinations thereof, via actuation of at least one motor; acable, said cable having a first portion connected to said head of saidfirst robotic cable mount and a second portion which is connected tosaid head of said second robotic cable mount; and an object mounted tosaid cable between said first and second portions thereof; saidcontroller configured to generate control instructions for causing theactuation of said at least one motor of said first robotic cable mountfor moving said head thereof, and thus said first portion of said cable,and for causing the actuation of said at least one motor of said secondrobotic cable mount for moving said head thereof, and thus said secondportion of said cable, in order to change a position of said object. 12.The system in accordance with claim 11 wherein said first portion ofsaid cable is connected to a rotatable spool which is connected to saidhead of said first robotic cable mount.
 13. The system in accordancewith claim 11 wherein said first robotic cable mount comprises a baseand a movable cable support which is movably mounted to said base andwherein said head comprises a portion of said movable cable support. 14.The system in accordance with claim 13 wherein said base is movablysupported on a support surface.
 15. The system in accordance with claim14 wherein said base is supported by wheels on a track.
 16. The systemin accordance with claim 11 wherein said object mounted to said cablecomprises a camera.
 17. The system in accordance with claim 16 whereinsaid camera is movably mounted to said cable.